yabloc_pose_initializer#
This package contains some nodes related to initial pose estimation.
Ideally, this package downloads a pre-trained semantic segmentation model during the build and loads it at runtime for initialization. However, to handle cases where network connectivity is not available at build time, the default behavior is not to download the model during build. Even if the model is not downloaded, initialization will still complete, but the accuracy may be compromised.
To download the model, please specify --cmake-args -DDOWNLOAD_ARTIFACTS=ON to the build command.
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DDOWNLOAD_ARTIFACTS=ON --packages-select yabloc_pose_initializer
For detailed information about the downloaded contents, please consult the download.cmake file in this package.
Note#
This package makes use of external code. The trained files are provided by apollo. The trained files are automatically downloaded when you build.
Original model URL
Open Model Zoo is licensed under Apache License Version 2.0.
Converted model URL
https://github.com/PINTO0309/PINTO_model_zoo/tree/main/136_road-segmentation-adas-0001
model conversion scripts are released under the MIT license
Special thanks#
camera_pose_initializer#
Purpose#
- This node estimates the initial position using the camera at the request of ADAPI.
Input#
| Name | Type | Description |
|---|---|---|
input/camera_info |
sensor_msgs::msg::CameraInfo |
undistorted camera info |
input/image_raw |
sensor_msgs::msg::Image |
undistorted camera image |
input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin |
vector map |
Output#
| Name | Type | Description |
|---|---|---|
output/candidates |
visualization_msgs::msg::MarkerArray |
initial pose candidates |
Parameters#
| Name | Type | Description |
|---|---|---|
angle_resolution |
int | how many divisions of 1 sigma angle range |
Services#
| Name | Type | Description |
|---|---|---|
yabloc_align_srv |
tier4_localization_msgs::srv::PoseWithCovarianceStamped |
initial pose estimation request |
Clients#
| Name | Type | Description |
|---|---|---|
semantic_segmentation_srv |
yabloc_pose_initializer::srv::SemanticSegmentation |
semantic segmentation request |
semantic_segmentation_server#
Purpose#
- This node performs semantic segmentation.
Services#
| Name | Type | Description |
|---|---|---|
semantic_segmentation_srv |
yabloc_pose_initializer::srv::SemanticSegmentation |
semantic segmentation request |